Embodiment
In the following specific embodiments, refer to the attached drawing, wherein by illustrating that the displaying present invention can be practiced in tool thereinBody embodiment.For this point, with reference to described figure orientation using such as " top ", " bottom ", " on ", " under ",The direction term of "front", "rear", " remote ", " near " etc..Because the component or embodiment of the present invention can be determined with some be differently directedPosition, so use direction term for purpose of explanation, and it is certainly without limitation.It should be understood that using other embodiments, and canStructure or logical changes are made in the case of without departing substantially from the scope of the present invention.Therefore, following tool should not be treated in a limiting senseBody embodiment, and the scope of the present invention is defined by the appended claims.
Frame of reference or process as the adjective " automatic " of entirety mean in particular system certain part or allThe step of during or, is related to from main machine frame or function, i.e. the mechanism or function need not activate manually.Finally, in programOne or more steps can be automatic or autonomous, some of parts need to be manually entered.
As used herein term " instrument " refers to be able to carry out moving in various ornaments, medical procedure or applicationAny the number instrument or end effector of work, program or operation.For example, the instrument can be pin or intubation, and it is passed throughAdjustment for various dermatological applications, tissue transplantation, the injection of adipocyte (such as be expelled in subcutaneous layer of fat withIn face or body " lift face "), collagen implantation, hyaluronic acid product and/or muscle inhibitor (for example,) injection,For face or physical recovery or the program of reconstruction, such as it is related to and many micro substances is expelled to target is intracutaneous and hypodermisIn or give medicine.As " instrument " or " implanting instrument " is referred to Follicular Unit with reference to used in hair transplantation(" FU ") is implanted into/is inserted into any the number instrument or end effector of body surface.Such instrument can have many differencesForm and configuration.In certain embodiments, the instrument includes hollow tubular shaft member.The instrument is (for example, drift, dress of coringPut, cut and/or clipping device, pin) distal end it is generally sharpened to cut tissue.Implanting instrument also can be sharpened so as to onePerformed in individual operation and puncture and deliver FU.However, puncture can be formed by another instrument, using it is relatively blunt and be only used for deliver hairThe implanting instrument of capsule unit.
As used herein term " being operably connected ", " coupling ", " installation " or " attachment " mean by one orMultiple intervention packages are directly or indirectly coupled, install or are attached.The embodiment of the method for the present invention can be used computer software, consolidatePart or hardware are implemented.Various programming languages mention operating system and can be used for implementing the present invention.
Object is continuously fed into instrument and the use of multiple storage devices
According to an aspect of the present invention, there is provided allow system and method object being continuously fed into instrument, for example,Then the object can be implanted in body surface.Although various examples described herein and embodiment are for this hair of descriptionThe purpose of bright various aspects will use Follicular Unit (aggregation of abiogenous 1 to 4 hair follicles) or hair graftsImplantation, however, it should be understood that other appropriate applications can be applied even more extensively in the general understanding for each conception of species discussed.It is wherein beneficialIn storage object for in program, its Program to be related to the voluminous object that can be stored in multiple tubular articles, or whereinIt is important to avoid that the system of the present invention, device and method can be benefited from by damaging the various applications of object to be stored and program.It should be understood that apparatus described herein, system and method can be used for such as medicine delivery, various dermatological procedures or various skinsThe treatment of skin disease situation.Similarly, present invention can apply to the other objects that can be for example implanted in body surface, exampleSuch as, adipocyte, medicine or skin implant such as body jewelry, it can use subcutaneous, transdermal or micro- skin implant, tatooOr the form of various biological units, comprising skin, tissue or hair.The present invention is special in semi-automatic, automatic or robot programIt is not beneficial, such as robot hair transplantation.
For purposes of illustration, exist with reference to hair transplantation, hand-held instrument, it is allowed users to manually on bodily surfacesCreate otch and subsequently or simultaneously the Follicular Unit being previously loaded into hand-held instrument is moved in body surface.According to oneA little known devices, Follicular Unit are loaded onto in the tubular article associated with hand-held instrument, for example, as Ross is graceful (Rassman)United States Patent (USP) 5,817,120 described in.However, such device has limited capability.For example, United States Patent (USP) 5,817,120 device has the single tubular article containing finite population hair grafts.Once implant the institute for carrying out tubular article since thenThere are hair grafts, just necessary interrupting or stopping program, so as to which new graft is reloaded into tubular article, or substituteGround, it is necessary to remove empty tube shape thing and new tubular article must be installed to continue program.No. 8,211,134 U.S. assigned jointlyPatent describes the system and method for harvesting, storing and being implanted into biological unit, comprising can be formed manually, part is automatic or machineThe example of the tubular article of the part of device people's hair transplantation device, system and shuttle subsystem.
The problem that can not be fully solved by known tubular article (including the tubular article being used in manually or automatically program)Be need to use new tubular article effectively replace or reload empty tube shape thing (once for example, all hair follicle lists in tubular articlePosition is unloaded and is implanted in patient from tubular article).It is generally desirable to stop or terminator make it that user is discardableDisposable hair implanting apparatus and another disposable hair implanting apparatus of acquisition, or remove empty tube shape thing from automatic system and cause separatelyOne tubular article can be inserted into this automatic system.No matter what reason is, program usually requires to be terminated, and can be seamlessThe delay that ground continues in program can cause loss valuable time.On robot program, the removal of tubular article and follow-up replacementIt can additionally need and recalibrate robot device, so as to cause further extension hair transplantation.In a word, legacy devices do not permitThe convenience of many individual tubular articles and effectively replacement and loading, particularly in the case of with the minimal disruption to program.This hairIt is bright to provide for solving the device of this problem, system and method.
According to an aspect of the present invention, the continuous feeding of object (such as Follicular Unit) is maintained to the implantation of hair unitInstrument, no matter instrument is attached to manual process or at least part auto-programming so that minimize user shut down procedure so as toThe needs another loaded tubular article being inserted into his manual or at least part automatic equipment.
Fig. 1 is can be for example used to harvest Follicular Unit and/or Follicular Unit is implanted in body surface (for example, scalp)Robot system or equipment 100 example perspective schematic view.System 100 includes the robots arm 105, (example of instrument 110Such as, harvesting or implanting instrument) it is coupled to robots arm 105.Various engines and other mobile devices can realize work through being incorporated toThe fine movement of the operational tip of tool 110 in a plurality of directions.Robot system 100 further comprising at least one or more (andPreferably for stereoscopic vision, two) image acquiring device 115, its can be installed in fixed position or couple (directly orConnect) arrive robots arm 105 or other controlled motion devices.Image acquiring device 115 may include the device for shooting still image, itsIt may also include the device (for example, IP Camera with continuous flow type real time information ability) for being capable of real time imagery, and/or itsCan also have video recording capabilities (such as Video Camera).Image acquiring device can be coupled to one or more processors or processing/Computing system 125, in the example of fig. 1, it merges to image processor 130 to control imaging operation and processing view data.ExhibitionShow the instrument 110 being positioned on body surface 120 (in this case, in the part of the scalp of the patient with hair follicle thereon)Operational tip.
Generally, processor or the operation of computing system 125 are data processing equipment, and be may be configured to include in advanceThe operation of determination and the program that can be incorporated into that in computer.Alternatively, program can include the more of this child-operation of execution operationIndividual module, or can be the part of the individual module for the larger program that operation is provided.Modular promotes addition, deleted, renewalAnd/or the feature in modification module therein and/or module.Processor can access memory, wherein can store code instructionAt least one sequence, including for performing the program of predetermined operation.Memory and program can be positioned in computerOr it can be positioned on outside it.Processor 125 can include CPU or parallel processor and input/output interface, haveThe memory of program, wherein all component can be connected by bus.These components are typically known to art, and therefore, nothingComponent need to be described in detail at this.
Processor 125 may include image processor 130, and it is used to handle the image obtained from image acquiring device 115.FigureAs processor 130 can be isolated system or and can be through being incorporated to the part as processor 125.Give an actual example (and unrestricted), properlyImage processor 130 can be the digital processing system comprising one or more processors or other types of devices.For example, handleDevice and/or image processor can be controller or any types personal computer (" PC ").Alternatively, processor may include specialIntegrated circuit (ASIC) or field programmable gate array (FPGA).Processor/image processor can also include memory, storage deviceAnd other components that art is commonly known, and it is therefore not necessary to component is described in detail at this.
Identical or different processor 125 may further indicate that the various mobile devices of robots arm 105, comprising instrument 110, and exampleSuch as worked by controller 135, as schematically shown in Fig. 1.Controller 135 is operatively coupled to robots arm and warpConfiguration is with the motion of control machine robot arm, comprising based on the image obtained by image acquiring device or the motion of data.Alternatively,Controller 135 can be through being incorporated to the part as processor 125 so that all instruments, robots arm and sub-assembly it is any itsAll processing and control of all movements of its moveable part (are included based on the image or data obtained by image acquiring deviceProcessing and control) concentrate on a place.System 100 can further comprise in the harvesting and/or implantation of hair follicle or in hairHair transplants useful in the works other instruments, device and component.
The system further comprises adapted to receive the interface of view data, and the various parts of the system are according to needAllow operator's monitoring situation and instruction is provided.User interface may include that element (such as display equipment 140) and user are defeatedEnter device (such as keyboard 145 and mouse 150).The interface can also include hardware port, cable, lead and other data transfersComponent, or it may include computer program.Processor 125 can be interactive via the interface and imaging device 115.It should be appreciated that withFamily input unit optionally include with touch enable device, tablet PC or this other similar device (thereon, Yong HukeUse its finger or gesture input order) combination Trackpad, tracking ball, light pen, pen or the Line tool.Body surface 120Enlarged drawing is found on display equipment, screen or monitor 140.In addition, system 100 may include hair follicle harvesting and/Or in implantation or in hair therapy useful other instruments, device and component in the works.
Fig. 2 illustrates the Follicular Unit implant system 200 at the end for the robots arm 105 that can be coupled to robot system 100Various assemblies, Follicular Unit implant system 200 are incorporated to Follicular Unit tubular article 205.Follicular Unit implant system 200 includes instrumentSub-assembly shell 210, it can be configured so that it could attach to robot system (such as robot system demonstrated in Figure 1)Robots arm 105 end, or it is operably connected or is formed hand-held device (such as hand-held device shown in Figure 18)A part.Purpose for hair transplantation is the utilization of optimization robot system, and in certain embodiments, shell 210 is by rotatingMechanism 215 is coupled to the end of robots arm 105, and rotating mechanism 215 is arranged such that allowing shell 210 to surround is arranged essentially parallel toThe axle rotation of the length of instrument 110.In this way, under appropriate instruction, rotating mechanism 215 being capable of rotational shell 210 and thereforeIts instrument 110 can be rotationally attached to.
Tubular article 205 includes multiple containers, each container 220 is sized and configuration with keep Follicular Unit (or itsIts appropriate object, biology or other).In addition, this tubular article 205 preferably permits storing hair under at least partially controllable environmentCapsule unit, for example, keeping its sterile, moist and/or being retained under desired chilling temperature, until needing to be implanted intoInto body surface 120.Desirably, some salt solution or other known preservation liquid are placed in each container of tubular article, are madeObtain hair follicle or other biology objects keep aqueous during storage or maintain chilling temperature.Alternatively or additionally, tubular article 205It can be placed in container, such as containing salt solution or other such Petri dish for preserving liquid, to maintain the strong of Follicular UnitHealth combines this time of the implant system using tubular article until needing.The shape of tubular article 205 or configuration can use various forms,And it may depend on application.Fig. 2 illustrates linear tubular article.Preferably, tubular article 205 can be sterile so that can reuse it.Alternatively, the tubular article can be manufactured into disposably, or to prevent it from reusing, and therefore it is disposable.
The hair grafts that typical hair transplantation needs to be implanted between 1,500 and 3,000 are carried out on bald male.Using being configured to accommodate the single tubular article 205 of so substantial amounts of Follicular Unit (or hair grafts) because numerous reasons willIt is unpractiaca.In addition to the fact that the tubular article will extremely be grown and be difficult to load, its use will produce practical problemAnd limitation.Firstly, because the head of neighbouring patient or body surface 120 utilize tubular article 205, so Follicular Unit is arranged from itThe length of the part of the tubular article 205 gone out can not be oversize, because it collides the head or body surface 120 with patient, especiallyIt is in the case where rotating mechanism 215 rotates the head for the end sensing patient for causing tubular article.Secondly, typical hair transplantationNeed the dense hair follicle of certain types of hair grafts (its be 1 to 3 (and less typically, 4 to 5), Follicular UnitNatural aggregation) be implanted to patient head different zones in.These Follicular Units can the number based on the hair in unitBe classified or " typing ", and with shorthand way be identified as " F1 " of single Follicular Unit, two Follicular Units " F2 ", and haveThere is the Follicular Unit of 3 to 5 hairs by that analogy.Preferably by the specific area of certain types of Follicular Unit Transplantation to scalpIn domain.For example, it is implanted into single Follicular Unit (F1) generally along the hair line for ticking face.Generally in the scalp between and headFollicular Unit (F2, F3 etc.) of the implantation with more than one hair in top.This arrangement of follicular unit distribution is considered as productionThe appearance of raw change, hair direction or orientation, the specific blend and/or randomness of the type of Follicular Unit with hair densitySeem more natural aesthetic result together, and this, which facilitates, seems more natural through transplanting hair appearance.Therefore, the random class of use is utilizedThe single long tubular article that type Follicular Unit loads is less effective and can limit the speed of executable hair transplantation.User isSystem will need the type of Follicular Unit and the head then moved back and forth at random to patient in its identification tubular article previous is implanted intoVarious regions to be implanted into such Follicular Unit.
Without stop with using implantation unit reload tubular article, replaced using empty tube shape thing and fill up tubular article or makeMany merits are provided with the ability for filling up tubular article replacement empty tube shape thing continual cure plan or program., can from the viewpoint of doctorValuable time is saved, so as to need less downtime and more SRO (this is also likely to improve quality).In addition, it can permitPerhaps doctor treats more patients on daytime, and therefore, increases his/her potential income.In one or more of hair implant procedureThe time can be saved at stage, comprising for example (Follicular Unit harvested from body surface can be deposited by providing empty tube shape thingStore up wherein) it is without interruption and/or provide and fill up tubular article for implantation into the Follicular Unit in body surfaceIt is without interruption.From the viewpoint of patient, less interruption will potentially mean that patient can be treated within cycle short period, so as to subtractThe duration of the small any discomfort associated with this program.According to an aspect of the present invention, program and associated devices/instrumentThe efficiency of device is substantially improved using multiple tubular articles in an efficient way by allowing, for example, essentially continuously, withoutInterrupt routine.Being enough to accommodate the length of the tubular article of certain amount (for example, in the range of 20 to 30 Follicular Units) allowsSolve these practicalitys, while still provide sufficiently large number to optimize program time.Although it is individual to be shown as 20 (20) of receivingFollicular Unit, but the length of tubular article 205 will ultimately depend on by be performed program, using tubular article store object and itsThe constraint that the equipment that will be coupled into is specified.Another advantage using more than one tubular article is that each tubular article loaded can haveCertain types of Follicular Unit, for example, all F2 in a tubular article or the adjacent appearance through being placed into the half of tubular articleAll F1 of device, and tubular article second half have be grouped together the F2 in adjacent container.
To assist the identification of the type (classification) of Follicular Unit that each tubular article contains, tubular article 205 can be configured orMark causes user, imaging system or both to readily recognize wherein containing the Follicular Unit of which kind in this way.InstituteStating tubular article may include one or more identifiers, comprising mark, for example, coloud coding, for identifying that Follicular Unit is F1, isF2 or F3 etc. unique color or datum mark, such as alphanumeric word formed in 1-D bar codes, 2-D data matrix codesThe known mark of symbol, series of points, a series of, unique identifier or the customization of radio frequency identification (RFID) or any other typeScheme.It should be appreciated that the position of identifier or mark will depend on will how using itself and need to place it in where so as to byAny applicable image acquiring device observation.
Fig. 3 displayings wherein Follicular Unit is from the Follicular Unit implant system of the first Follicular Unit tubular article 305a discharges200 and explanation be loaded onto the second Follicular Unit tubular article 305b in tool assembly shell 210.In certain embodiments,System 200 can accommodate more than two tubular article.In the example of fig. 3, hair follicle implant system 200 includes Follicular Unit implanting instrument110, it is seen that its distal end protrudes from presser feet 650.The container 220 that drive mechanism (not showing) is configured to tubular article 305a movesMove or drive obturator (also not showing) and into the near-end of the inner chamber of the implanting instrument 110 of its substantial registration.Wish instituteThe length of obturator is stated so that when obturator is moved through container towards body surface in a distal direction and arrives implantation workWhen in the inner chamber of tool 110, its distal end can be with the distal end substantial registration of instrument 110.For the purpose, the length of obturatorTubular article 305a or 305b width can be added at least described length of implanting instrument, and preferably omited in certain embodimentsIt is long.Drive mechanism may include for example various engines and other mobile devices, and/or can be can be by by the example exhibition in Fig. 1A part for the controlling organization that the processor 125 or controller 135 shown is managed or guided.The fortune of obturator in a distal directionMove the Follicular Unit containers for pushing out 220 that will be disposed in container 220 and be pushed into the inner chamber of implanting instrument 110.Drive mechanism is through matching somebody with somebodyPut further to drive obturator finally to drive out its distal end, and body is arrived in driving towards body surface by implanting instrument 110In body surface face 120.Some embodiments (such as embodiment shown in Fig. 2 to 3) can contain presser feet 650, and it is operatively coupledTo obturator and include distal end 670.When obturator is withdrawn from from body surface 120, the lower part of the body is pressed in the distal end 670 of presser feet 650Body surface face 120, so as to provide downward pressure around obturator, enables obturator more easily whereby without penetrating itRemoved from body surface, and minimize the potential discharge for the Follicular Unit being nearby previously implanted in addition, i.e. anti-explosion mechanism is provided.In this particular configuration, when tubular article 305a and 305b are placed to end-to-end, proximate end face is substantially parallel to each other.IndexingMechanism 310 is arranged such that first and second point on corresponding first tubular article 305a and the second tubular article 305b bottom side 240At least one or more the indexing feature parts 320 corresponding with the top of indexing mechanism 310 of feature 225 are spent (in Fig. 6 a to c and figureShown in 7) engagement.Indexing feature part 225 and corresponding indexing feature part 320 cause through moulding and configuration as tubular article 305a andWhen 305b is placed to end-to-end (with reference to figure 4 and 5) and the engagement of indexing feature part 225,320, the first tubular article 305a's is lastInterval between one container 410 and the second tubular article 305b the first container 420 is predetermined value 430.The two containersDesired distance value between 410 and 420 causes predetermined interval 430 between neighbouring container be present, no matter containerIt is on identical tubular article or on neighbouring tubular article.The distance between holding container is substantially permanent between all containersFixed, no matter it is to continue (hereinbelow described) knot of holding one's breath on identical tubular article or on tubular article, realizingThe operation of structure realizes the automation of implant system 200 to be optimized without interrupting.Optimization by (except other things itObturator is allowed to continue to promote Follicular Unit to promote from tubular article with substantial constant and undisturbed speed outside)；EvenIn all Follicular Units after a specific tubular article discharge.Implant system 200 is arranged such that it provides container 220It is seamless without interruption, so as to realize continue the implantation of Follicular Unit with up to supply the loaded tubular article with Follicular Unit whenBetween.
In another aspect of the present invention, the end of tubular article may include locking feature, such asLabel, dovetail,The combination of protuberance and recess or other such fastening members, it allows to that a tubular article is attached into another cylinder end-to-endShape thing.Using this arrangement allow to make its contact indexing mechanism 310 before temporarily by two or more tubular articles each otherAttachment.
After from container graft has been implanted, Follicular Unit tubular article 205 causes another appearance through indexingDevice (generally neighbouring container) is aligned with obturator and/or implanting instrument 110 so that implantable follow-up Follicular Unit.This indexing canSuch as (for example, mechanical arrangements, arrangement of gears, electricity under controlling organization (such as controller 135) and/or by other such componentsMachinery, electronics, pneumatic, hydraulic pressure, magnetic) it is at least partly automatic real using the engine with programmable control product or its combinationApply, to carry out the controllable indexing of tubular article preferably to make the subsequent vessel of tubular article be aligned with obturator.To promote to index,At least one or more indexing feature parts 225 are through being provided on the lower surface 240 of tubular article 205, and it is with being associated in implant systemAt least one or more indexing feature parts 320 (as seen in Fig. 6 a to c) engagement of the correspondence of 200 indexing mechanism 310 (is interlocked or nibbledClose).Indexing feature part 225 and corresponding indexing feature part 320 can be for example including a series of teeth, slope or leading edge and trailing edges.HereafterThe example for the configuration for implementing indexing will be described in more detail, though it will be appreciated that, the known realization of those skilled in the art be presentThis many modes.
Fig. 6 a to 6c illustrate the example of indexing mechanism 310, and various implementations according to another aspect of the present invention can be used in itExample is implemented.Indexing mechanism 310 not only includes corresponding indexing feature part 320, and (indexing on its bottom side 240 with tubular article 205 is specialSign part 225 engages), and the cam face 330 including being configured to operate in association with index cam 610.DescribedConfiguration in, corresponding indexing feature part 320 is through being placed on the upper surface of indexing mechanism 310, and the surface is closer to loadedFollicular Unit, and cam face 330, through being placed on the lower surface of indexing mechanism 310, the surface is away from loaded Follicular UnitFarthest.Obturator 550 is slideably positioned, wherein its near-end via index cam 610 be coupled to by drive assembly (Do not show) driving drive mechanism (not showing) with obturator 550 provide distal end guiding propulsive force.In initial operationIn, as illustrated by Fig. 6 a, tubular article 205 engages with indexing mechanism 310, and drive mechanism is activated to index cam 610Bounce back as demonstrated, substantially simultaneously cause obturator 550 to bounce back.In this advanced position, index cam 610 is dashed forwardGo out portion 615 through being placed at the near-end 630 of slit 640, cause presser feet 650 to bounce back in addition, and make the distal end of presser feet 650 whereby670 bounce back away from body surface 120.For description Fig. 6 a to c purpose, " remote " direction is closer to the side of body surface 120To, and " near " direction is away from body surface 120.When obturator 550 bounces back, indexing mechanism 310 is in its offset position,By means of spring or this other biasing assembly (not showing) in the upper offset of direction 710 and 720, as shown in Fig. 6 a.It should be understood thatIt can be made in the case of without departing substantially from the spirit of the present invention in the form of described configuration and details and in described instrumentAnd various modifications, replacement and change in the operation of system.For example, in alternative embodiments, the indexing feature of tubular articleThe indexing feature part 320 of part 225 and indexing mechanism 310 may be disposed at other positions (for example, in the opposite side of related deviceOn), moreover, initial bias can be in the square outwardly direction except indicating above, and/or the movement of obturator can cause pointDegree mechanism and/or tubular article move on except described square outwardly direction (for example, opposite).Then, drive mechanism carriesFor distal end guided-moving, so as to cause index cam 610 to be moved towards tubular article 205, and move the distal end of obturator 550By obturator 550 substantial registration to the container 220 in its tubular article 205.Index cam 610 is arranged such thatWhen protuberance 615 reaches the distal end 660 of slit 640, the distal end of obturator 550 and the distal end 670 of presser feet 650 are substantially rightAccurate (Fig. 6 b).
As drive mechanism continues to make index cam 610 to be moved towards tubular article 205, the protuberance 615 in slit 640Disposal causes protuberance 615 presser feet 650 and obturator 550 is moved towards body surface 120 upwards in the distance.Index cam610 cam face 620 engages the cam face 330 being placed on the lower surface of indexing mechanism 310 and pushes away indexing mechanism 310Enter its and tilt position, so as to promote it to be moved on the direction 700 that shows in fig. 6 c.However, because obturator 550 existsIn the container 220 of tubular article 205, thus indexing mechanism 310 its can be moved up in the side that it is pushed into how far aspect byLimit.This motion can be seen more clearly in fig. 8, wherein it is visible, it is moved towards with the cam face 620 of index cam 610The cam face 330 of body surface 120 and leap indexing mechanism 310 is slided, and indexing mechanism 310 is pushed on direction 700, andAlso in the distance to being pushed on 730, towards body surface 120.The system is arranged such that is determined due to obturator 550Position, cam arrangement, the geometry of indexing feature part and biasing, indexing mechanism 310 move a certain distance, and it is enough dividing engineThe neighbouring indexing feature part 225 on the corresponding increment of indexing feature part 320 to tubular article 205 on structure 310.Indexing feature part 225Geometry facilitate and ensureing once move the distance for being enough to implement indexing, the corresponding indexing feature part 320 of indexing mechanism 310Just fall or fall before indexing mechanism 310 is moved rearwards towards its offset position in the indexing feature part 225 on tubular article 205Appropriate location in, so that it is guaranteed that it is described indexing occur.During this time, drive mechanism is controlled in this way, in order to causeFollicular Unit is pushed into the inner chamber of implanting instrument 110 by obturator 550 from the container 220 of tubular article 205, releases implanting instrument110 distal end, and into body surface 120.By control presser feet 650 distal end 670 reach body surface 120 surface withoutIt is penetrated, and by making the distal end of obturator 550 and the substantial registration of distal end 670 of presser feet 650, can be achieved and control institute's phaseThe implantation depth of prestige.In this embodiment, the distal end 670 of presser feet or the distal end of obturator 550 neither penetrating body tableFace 120.
Once implanting Follicular Unit, drive mechanism (or controlling organization) causes index cam 610 and obturator 550 1Retraction is played, so that both moves away from body surface 120 in the proximal direction.In certain embodiments, drive mechanism can be byAn actuating in processor (such as with reference to one or more 125 processors as described in Figure 1 of processor).Initially, returnContracting causes the remains stationary of presser feet 650, and only obturator 550 bounces back in the proximal direction.However, once fully retraction, indexing are convexThe protuberance 615 of wheel 610 reaches the near-end 630 of slit 640, and presser feet 650 bounces back together with obturator 550.Maintain presser feetInitial contact between 650 distal end 670 and body surface 120, as obturator 550 bounces back from body surface 120, it can useIn the implantation of optimization Follicular Unit.Finally, obturator 550 bounces back from the container 220 of tubular article 205, so as to allow dividing engineStructure 310 is discharged back into its offset position, i.e. (with reference to figure 6a) (opposite with direction 700) on direction 720.In addition, because closeDepressed structure 550 bounces back from tubular article 220, so indexing mechanism 310 can also return to its offset position, it is away from bodyOn the nearly direction 710 on surface 120 (Fig. 6 a), and tubular article 220 indexes and make it that neighbouring container and obturator 550 are substantially rightStandard, and process prepares to start again at.Indexing mechanism 310 further comprises block 340, and block 340 returns with indexing mechanism 310To the movement of its offset position limitation indexing mechanism 310, this ensures that indexing is limited to increment to neighbouring container again.In Fig. 8Illustrated, block 340 may include the end of indexing mechanism 310, and the recess wherein in tool assembly shell 210 provides block border680.In this way, the ability of movable indexing mechanism 310 is limited on direction 700 and 720.
As previously mentioned, withdrawing from obturator from body surface 120 simultaneously using presser feet 650 enables obturator to holdChange places and removed from body surface, and minimize the potential discharge for the Follicular Unit being nearby previously implanted in addition, it is explosion-proof so as to provideMechanism.Body surface 120 is pressed without penetrating the body surface in the distal end 670 of presser feet 650, so as to be provided around obturatorDownward pressure, and effectively make the body surface stabilization for surrounding it.Therefore, when removing obturator, around obturatorRegion in exist interfere less with, so as to minimize the potential discharge for the Follicular Unit being nearby previously implanted.
Combined with obturator 550 using presser feet 650 can hand-held device it is particularly useful, wherein user may be not easy brightThe axial location of white obturator, because it can be hidden in the interior intracavitary of pin.Presser feet 650 can be provided and visually indicated, and pass through instituteState and visually indicate user to can determine whether that pin is penetrated into body surface more deep, and also act as the plug of obturator.
However, it should be understood that in certain embodiments, the use of presser feet is optional.For example, in some embodimentsIn, obturator moves in the case that the processor or controller of system are can be controlled in without using presser feet distance.Image obtainsDevice 115 can obtain the data relative to the distance of body surface about implanting instrument and/or obturator, and the processing of systemDevice and/or controller can control the distance of implanting instrument and/or obturator movement, comprising when desired, prevent obturatorPenetrating body surface.
Fig. 9 is the flow of the example for the methodology that description is used for the system and instrument continuous feeding container for using the present inventionFigure.In preliminary step 810, including the first tubular article 220 of multiple containers can be loaded into system or be coupled to system, multipleNeighbouring container in container separates predetermined distance each other.This coupling of first tubular article can be realized automatically by system orRealized by system under the auxiliary of user or operator (such as doctor or physician extenders).In certain embodiments, system canIt is configured to allow for user that tubular article is coupled into system manually.System programmed, configuration or can be operated with by object or unitIt is loaded into the container of the first tubular article or discharges object or unit from the container.Load or discharge may include that operation is held one's breath knotStructure (or other similar means) is to be moved to or into container, so as to which depending on application, by object or unit, (such as hair movesPlant) it is pushed in container or containers for pushing out.In other embodiments, loading or discharge can be realized by using pressure differential withObject or unit are released in each container and push-in instrument 110, as described further below.In other embodiment, liftFor example, the combination of mechanical driven and pressure differential can be used for discharging Follicular Unit from tubular article.
The movement of obturator or similar means can be controlled by one or more processors 125.At certain point during program,In step 820, the second tubular article is operatively coupled to system, for example, by the way that the second tubular article is locked into the first tubularThing.In certain embodiments, for the overall dimensions of system are remained into minimum value during its majority operation, the second tubular article canIt is cleared in all containers of the first tubular article or nearly all container and (refers to implant procedure) or fill up object and (refers to and use thingBody loads the container of tubular article) couple very recently.For example, the second tubular article can will be from first (or previously) in systemCoupled during last container discharge Follicular Unit of tubular article.In those embodiments, first and second tubular article during itThe time that both are loaded in system is minimized.However, in other embodiments, the second tubular article can be in any other instituteIt is expected or appropriate time couples.It should be understood that " last " container in the first tubular article may not be last appearance of actual physicsDevice, but be probably by system instruction it is loaded or discharging operation last, it is desirable to starting to second (after orIt is continuous) object in tubular article discharges first from it before being operated (or previously) tubular article or unit or first (or previously) cylinderObject or unit in shape thing are loaded onto last container therein.In step 830, system is operable with by object or listPosition is loaded into the first container of the second tubular article or discharges object or unit from first container.The method according to the inventionBy object or unit can be loaded onto in the first container of the second tubular article or from first container discharge and by interrupting journeySequence will not be lost any time with removing previous tubular article and replacing it using follow-up person.In certain embodiments, step 830 canPerformed when first (previous) tubular article keeps and is operably attached to system, and in step 840, the first tubular article can be in thingBody (such as Follicular Unit) removes from any time after the first container discharge of the second tubular article.In certain embodiments,In step 840, once for example, propulsive mechanism is moved into is aligned with the first container of the second tubular article, the first tubular article is justIt can disconnect or remove.If desired, in some embodiments, some or some containers of second (or follow-up) tubular article can beFirst tubular article disconnects or removed from system to be emptied before.In other embodiments, step 830 and 840 can substantially simultaneously holdOK so that can remove or disconnect from system with the first tubular article and substantially simultaneously occur for object to be loaded into the of the second tubular articleObject is discharged in one container or from the first container of the second tubular article.In either case, the first tubular article is removed not from systemThe efficiency of loading/discharge can be influenceed, because it will not prevent program from continuing to allow object or unit with phase same rate and without inIt is disconnected to be loaded onto in the container of follow-up tubular article or discharged from the container of follow-up tubular article.
In addition, in some embodiments of the invention, system be can be configured to recognize and/or be indicated to previous tubular articleWork when complete or will complete and when the follow-up tubular article of direct-coupling.One or more indicators (for example, datum mark) canThrough placing the end of neighbouring first tubular article and for last container of the first tubular article to be cleared or fill up or close to clearInstruction that is empty or filling up is supplied to user or system.This information for example be can be displayed on display equipment 140, and instruction user should be stoodCarve and remove the first tubular article, or can be used by system to provide automatic removal/disconnection of the first tubular article.In alternate embodimentIn, the length of indexing mechanism 310 can promote the automatic disconnection of the first tubular article.As illustrated in figure 7, it is seen that indexing mechanism 310Including the finite length with finite population indexing feature part 320.Therefore, once the first tubular article 305a is with step-by-step movement sideFormula indexes, and final first tubular article 305a the first indexing feature part 225 is just special by indexing no longer corresponding with indexing mechanism 310Sign part 320 engages.Therefore, as the second tubular article 305b is also indexed, there will be sometime point, wherein only the second tubular article305b indexing feature parts 320 corresponding with indexing mechanism 310 engage, and the first tubular article 305a will be from its automatic disconnection.Ying MingIn vain, the selection of the length-specific of indexing mechanism 310 will determine turn-off time.
The tubular article used with reference to the system and method for the present invention
According to another aspect of the present invention, there is provided the improvement of tubular article design in itself and configuration.Can it is automatic or half fromConfigured in dynamic program using described tubular article, include robot system.In addition, it is such such as hand-held device to can be used to utilizeTubular article configures, although this device or program can automate to some extent.As explained above, tubular article can have multiple appearancesDevice, it is used for containing various biological units (such as hair grafts or the tissue that must be stored and be removed from such containerGraft) without damaging such graft it for example can be implanted or reuse.Figure 10 illustrates tubular article 900, its classThe tubular article disclosed in the 8th, 211, No. 134 US patent assigning jointly is similar to, for example, in figure 18, itsMiddle container 920 is through being placed in the main body for the tubular article 900 being spaced apart with the top surface of tubular article 945.In other words, holdThe opening of device 920 or drilling 930 extend to second or below 950 (not showing) from first or above 940, and it is arranged essentially parallel toAbove 940, the part of the wherein length of container is not exposed to top surface 945.In this particular configuration, Follicular Unit can pass throughOne graft (for example, Follicular Unit) is pushed to it is loaded into tubular article in each opening 930 of container 920, whereinThe part of Follicular Unit does not expose on the surface of tubular article 900.
Figure 11 illustrates the tubular article 1000 according to the present invention.Tubular article 1000 includes main body, and it has first or top tableFace 1035, second or lower surface 1040, above 1045 and below 1050 (not showing), and define from above 1045 to below1050 multiple containers 1020 being extending substantially parallel.In the illustrated example, tubular article 1000 includes the individual appearance in 20 (20)Device 1020, each is sized and configures to keep Follicular Unit.However, it should be understood that this is only example and different numbersIndividual container is within the scope of the invention.In Figure 11 example, the length 1025 of tubular article 1000 has been selected so that it can holdChange places and be stored in until being required in Petri dish, the length of length 1025 has 3 to arrive in the range of 2 to 10cm3.5cm length, and more particularly, 3.2cm, such as easily accommodate 20 illustrated containers.Container 1020 is configuredSo that it is through disposing closer to top surface 1035, for example, away from top surface 1035 in 0.2mm to 0.5mm.
In this particular instance, slit 1060 extends from container 1020, and the top surface 1035 of tubular article 1000 is openedPut.These slits 1060 assist the process being loaded into Follicular Unit in the container 1020 of tubular article 1000.In some embodiment partyIn case, graft or Follicular Unit in the case of using tweezers through being placed into container.Slit 1060 allows with hair follicle listPosition is drawn out by the first opening 1055 and guides tweezers into container 1020.In addition, slit 1060 can be towards container 1020First opening 1055 is tapered (for example, broadening), and conical section provides extra guide features part 1065, and it can be as it be by hair follicle listPosition, which is incorporated into the first opening 1055, for example further accommodates tweezers, and is not subjected to any unnecessary wound that Follicular Unit is loadedWound.This configuration allow users to than in the configuration for not including slit 1060 or extra guide features part 1065 faster and/or moreTubular article is easily mounted with Follicular Unit.To help to understand how Follicular Unit being loaded into tubular article, with reference to figure 12And 13.Figure 12 follicular unit depicteds or hair grafts 1100, it includes one or more hair follicles or hair grafts 1108, eachIndividual to extend from corresponding root of hair 1110, Follicular Unit 1110 has the distal end 1120 in located face under the skin.Generally, root of hair 1110And a part 1106 for hair grafts 1108 is surround by tissue 1115, the tip portion 1105 of wherein hair grafts 1108 is remoteLeaving one's post, what is organized and represents a part for the hair follicle or hair grafts occurred from body surface.When hair transplantation uses handsetWhen device performs or during automatic (for example, robot) Follicular Unit extraction procedure, this tip portion 1105 is generally pruned to be arrivedAbout 1mm to 2mm (0.04 to 0.08 inch), and when performing band hair transplantation, it generally pruned arrives about 3mm to 5mm(0.12 to 0.20 inch).The stem cell for being responsible for hair growth is fixed generally along the part 1106 of the hair follicle 1108 below epidermisPosition, penetrates root of hair 1110.As demonstrated in Figure 13, user can be used a pair of forceps 1200 or similar device will be by tip portionThe Follicular Unit 1100 of 1105 fixings is directed in the slit 1060 of container 1020 and (generally started at the first opening 1055) (figureShown in 11).In certain embodiments, slit 1060 can cross the width of tubular article 1000.In other embodiments, such as instituteThe embodiment of explanation, slit can only cross a part (in some instances, substantial portion) for the width of tubular article 1000, butReach and terminate below before 1050.In this way, user can hold the tip portion of Follicular Unit 1100 under tweezers help1105 (with reference to figures 12) pass through appearance without extruding and potentially damaging containing stem cell and by organizing 1115 circular partsDevice 1020 moves Follicular Unit 1100 in first opening 1055 until reaching away from the first 1055 farthest slits 1210 of opening toHold (being shown by the example in Figure 14).In this point, the tissue part 1115 of hair grafts will substantially be positioned in containerDisposed in 1020 and along container 1020, the distal end 1120 of wherein Follicular Unit 1100 is placed at the first opening 1055 or attachedClosely, and wherein the end of tip portion 1105 protrudes from the other end 1210 of slit, as seen in Figure 14.
Another feature part of the tubular article of the present invention convenient mark is provided with notify user or automatic system its which containsTypes of biological unit or other characteristics or information about the biological unit.For example, with reference to hair transplantation, tubularThing can be labeled to indicate in specific tubular article the number of the hair follicle in contained corresponding Follicular Unit.The illustrated system of point 1030Arrange the example that can be used for displaying how can mark the tubular article 1000 containing type F2 Follicular Units (referring to Figure 11).
Once tubular article has been loaded Follicular Unit, its can be inserted into Follicular Unit implant system 200 or withFollicular Unit implant system 200 is coupled so that Follicular Unit is implanted in the body surface 120 of patient.Hair follicle is from tubular article 1000The movement of container 1020 to implanting instrument 110 various methods can be used to realize.Can be used such as mechanical device or structure (such asObturator 550) Follicular Unit 1100 is pushed in implanting instrument 110 from tubular article 1000.Operator or system will can closeDepressed structure 550 is translated across a part or complete length for container 1020, so as to by the containers for pushing out 1020 of Follicular Unit 1100 andIt is pushed in the inner chamber of instrument 110, it is located to substantially be aligned with container 1020.Reader should be understood that Follicular Unit from cylinderShape thing is transferred to implanting instrument and some alternatives can be used to realize.Another option is so that Follicular Unit to be released using pressure differentialIn each container and push-in implanting instrument 110.In other alternate embodiments, the combination of mechanical driven and pressure differential can be used for fromTubular article discharges Follicular Unit.
The obturator used with reference to the system and method for the present invention
According to the another aspect of the present invention, Figure 14 to 17 illustrates to hold one's breath with reference to what the system and method for the present invention usedThe new and improved design of structure 1150.The obturator for being commonly used for hair transplantation may have about 0.8mm to 1.1mmDiameter (or about 0.03 to 0.04 inch).With reference to hair transplantation, obturator 1150 is sized, moulding and configuration makesIt accommodates the tip portion 1105 of one or more hair follicles 1108, it is protruded from tissue 1115 and in obturator 1150 by hair follicleImprove during 1100 containers for pushing out 1020 of unit and successfully hair grafts or Follicular Unit 1100 are directed in instrument.For thatIndividual purpose, the distal end of obturator 1150 include recess 1155, and it is placed in therein first (for example, top) side 1180.It is recessedPortion 1155 is sized and configuration enables tip portion 1105 to be located at or stay in recess 1155 so that it is in graftIt will not be booked or clamp when being discharged to by obturator from the container of tubular article in instrument 110.In the outer of obturator 1150A certain tolerance be present between the internal diameter of the container 1020 of the internal diameter of footpath and implant needle 110 (or internal chamber wall) or tubular article 1000.MarkClaim ground, the tolerance can be between about 0.025mm and 0.05mm (or between about .001 and .002 inches).The conventional point of hairHold part 1105 that there is the nominal diameter of 0.1mm or .004 inches, but the diameter with less than 0.05mm or .002 inches is micro-Type hair is not uncommon for.Therefore, in the case of without recess 1155, the tip portion 1105 that hair be present can be sandwiched in plantEnter between the internal diameter of pin 110 and the external diameter of obturator 1150 or be sandwiched in tubular article 1000 container 1020 internal diameter with closingPossibility between the external diameter of depressed structure.When advancing to implant needle 110 from the container 1020 of tubular article 1000, there is also hairTip portion 1105 can nipped possibility because it must pull against small―gap suture between the two.Obturator 1150Recess (such as recess 1155) on the top side of far-end provides capsule for hair.For example, tubular article is stored in whereinIn unit be in the embodiment of hair grafts, the length of recess 1155 may be about 1.5mm to 2.5mm (0.06 to 0.1 EnglishIt is very little) (to accommodate length as 1 tip portion 1105 for arriving 2mm (0.04 to 0.08 inch)).The depth of recess 1155 can be for example(it comfortably receives one or more tip portions 1105 of Follicular Unit 1110 to 0.2mm to 0.3mm (0.008 to 0.012 inch)Caliber), or obturator elongate body cross sectional dimensions about 10% to about 30% in the range of, such as 25%.As skilled in the art should understand, the size of above-mentioned recess 1155 is provided by example, and without restricted, andIt may depend on desired embodiment and application adjustment.In this configuration, remote sophisticated 1160 when obturator 1150 promoteBy organize 1115 circular grafts part when, from tissue 1115 protrude tip portion 1105 can not possibly bend, as aboveText explanation is jammed or caught like that, and this allows graft to be properly aimed and is smoothly transferred to instrument from storage tubular articleIn 110.In one embodiment of the invention, obturator 1150 is registered to its container 1020 by it and advanced, so as to push awayEnter Follicular Unit 1100 contained therein to discharge from container 1020 and enter the near-end of the inner chamber of implanting instrument 110.Implanting instrument110 cause the distal end of implanting instrument 110 to enter body surface 120 through operating.In order to realize this, implanting instrument 110 it is remoteEnd can be sharpened so that instrument penetrating body surface itself, or alternatively, the perforation or cut that instrument can be previously formed through being incorporated intoIn mouth (being formed by another instrument).It will be appreciated that body surface penetrate can wherein Follicular Unit discharged from container 1020 and toOccur before, during or after time in the inner chamber of implanting instrument 110.It should also be clear that Follicular Unit 1100 is caused by itThe method that implanting instrument 110 is moved to from tubular article 1000 can be realized by the various methods in addition to method as described above.
In addition, in certain embodiments, obturator 1150 of the invention can be configured with cut-off parts 1170, it is passed throughIt is placed at the remote tip of obturator 1150, but on second (for example, bottom) of recess 1155 or opposite side 1185 (referring toFigure 16 a to 16b).Cut portion 1170 can be configured so that in use, when the distal end of implant needle 110 to be indicated in Figure 17 bFor 1174 approach angle penetrating body surface 120 when, the surface of the cut portion 1170 of obturator 1150 is arranged essentially parallel toBody surface 120 positions.In this way, remote sophisticated 1160 when obturator 1150 are promoted by organizing 1115 circular graftsPart near-end 1168 when, the surface of cut portion 1170 and the substantial registration of body surface 120, so as to prevent obturator1150 enter below body surface, as shown in Figure 17 b.Meanwhile remote sophisticated the 1160 of obturator 1150 can apply and fillSufficient power by Follicular Unit to be pushed to desired position to cause to be implanted into.To perform hair implant procedure, implant needle 110 can phaseAdvance for body surface into the approach angle in the range of 30 to 90 degree anywhere, although more typical arrive close to angular region 40Between 45 degree.Therefore, the cut portion 1170 for obturator 1150 being placed to be arranged essentially parallel to body surface (works as obturator1150 it is in use when, and utilize approach angle penetrating body surface), cut portion 1170 is configured to form 0 to 60 degree scopesInterior angle (being denoted as 1176 in Figure 16 b), and generally between 45 to 50 degree.In certain embodiments, cut portion canThrough the intact part or a part of the diameter of obturator.In such embodiment, remote tip 1160 and cut portion 1170Intersect at the line that the diameter for substantially crossing over obturator 1150 is formed, cut portion 1170 is along about through obturatorDiameter line or start close to it.As previously mentioned, the diameter 1178 of obturator 550 can arrive 1.1mm (0.03 0.8To 0.04 inch) region in.In some other embodiments, cut portion 1170 can be from the cross section chi of obturator 1150Very little about 25% extends to about 60% (for example, 50%), such as causes the located only obturator closer to body surfaceA part for the cross section at remote tip is cut.Cutting 1170 is configured and functioned such that when obturator is against body surface120 when being pressed, and the surface of cutting and body surface is substantially flush, and the distal end of obturator is not compressed substantially wherebyBody surface.
It will be appreciated that according to the present invention obturator may include recess, its have with by Figure 16 a example show it is recessedThe different size in portion 1155, shape and configuration.For example, on a side of the distal end that displaying is placed in obturator 1150Recess 1155 can be worked well (wherein slit when using tubular article (such as the tubular article shown by the example in Figure 11)1060 pairs of top surfaces 1035 open).In the configuration of other tubular articles, for example, tubular article illustrated in fig. 10, hair transplantationThe positioning of the inorganization tip portion 1105 of thing 1108, which allows to be fully utilized, is simply disposed in the remote of obturator 1150The recess 1155 on one (for example, top side 1150) in end.In this case, using the circumference around the distal end of obturatorAn at least substantial portion extension recess 1155 can be it is beneficial, so as to provide gap area 1300, such as Figure 17 c to 17dIn illustrated gap area.Gap area 1300 may be sized and configure the tip portion for causing hair grafts 11081105 can be located at or stay in gap area 1300, and no matter tip portion 1105 should find it in the which side of obturatorBody.This configuration will help prevent tip portion 1105 to be discharged to instrument from the container of tubular article in hair grafts or arranged from instrumentGo out to quilt during body surface or when obturator 1305 and instrument are removing after implanting hair grafts from body surfaceCatch or clamp.
Figure 17 c illustrate to include the recess of the gap area 1300 of the substantial portion placement with the circumference around obturatorObturator 1305 another example.In this example, obturator does not surround the whole circumference extension of obturator, becauseThe geometry of obturator 1305 can also be used in indexing process.In the embodiment of Figure 17 c example, recess/interstitial areaFrom anywhere in domain may extend away for example between the 50% and 95% of the circumference of obturator, and more particularly, in the circleBetween the 75% and 95% of week, or between 75% and 90%, or in the range of 300 to 330 degree.However, wherein need notIndexing is wherein utilized in the other configurations of the indexing mechanism in addition to indexing mechanism described herein, gap area 1300The whole circumference that obturator can be surrounded disposes.The length 1310 of gap area 1300 can be based on object correlation or biological unitLength (for example, length of the inorganization tip portion 1105 of hair grafts 1108).For example, it is real with reference to hair transplantationExample, the length 1310 of gap area can about in the region of 1.5mm to 3.5mm (0.06 to 0.13 inch) using accommodate length as1 arrives 3mm (0.04 to 0.12 inch) tip portion 1105.This length 1310 is generally in the range of 1 with 4mm, but for example takeCertainly can the upper limit with 6 or 7mm in the length for the hair being implanted.The depth 1315 of recess or gap area 1300 can be similar toThe depth of recess 1150, and it generally in the range of from 0.2mm to 0.3mm (0.008 to 0.012 inch), it cosily holdsReceive Follicular Unit 1110 one or more tip portions 1105 caliber, or the cross sectional dimensions of the elongate body in obturatorAbout 10% to about 30% in the range of, such as 25%.As skilled in the art should understand, above-mentioned gap area 1300Size be to be provided by example, and without restricted, and may depend on desired embodiment and application adjustment.ThisOutside, although Figure 17 c to 17d embodiment described does not include cut portion 1170, cut portion can be by comprising similar to referenceCut portion illustrated by Figure 16 b and 17b.
As illustrated by Figure 17 d, inwall 1320 and obturator 1305 of the obturator 1305 in implanting instrument 1325The gap (in addition to other things) is provided between the outer wall of distal end.Gap area 1300 is arranged such that from body surface and protrudedThe remote tip of implantation Follicular Unit will not be caught or be clipped in the inwall 1320 of implanting instrument 1325 and obturator 1305Between the outer wall of distal end, particularly when obturator 1305 and implanting instrument 1325 remove from body surface.Therefore, it will notCan pull out Follicular Unit/hair grafts of newest implantation, and in body surface this hair grafts of remaining implantation changeImproved by the design of suggestion and the configuration of used instrument.
In certain embodiments, the distal end of obturator 1150, is physically contacted the end of Follicular Unit, may include non-wound in additionWound property surface, it can not preferably damage hair grafts when it pushes hair grafts part 1115.On the other hand, existIn some alternate embodiments of recess 1155 shown in embodiment without Figure 16 to 17, the distal end of obturator 1150At least a portion can have sharp cutting edge.The purpose of this cut edge is can be caught by that can cut in obturatorBetween the internal diameter of the container of external diameter and tubular article 1000 or caught in the external diameter and implant needle or instrument 110 of obturatorTip portion 1105 between footpath is helped graft smooth transition into instrument 110.
Alternatively, using for promoting other propulsive mechanisms or component of the Follicular Unit by implanting instrument.Citing comesSay, pressure differential as mentioned above can be applied to implanting instrument by reducing the distal end of container relative to the pressure of proximal end.ThisOne example of pressure is the pressure as caused by the very a small amount of salt solution promoted from the tip of tubulose obturator (for whereinUse the embodiment of salt solution).
Figure 18 illustrates the example of the hand-held instrument 1200 for being implanted to hair grafts in body surface.Hair transplantationThing is loaded onto in the multiple containers of tubular article 1210, and it can be configured for example can releasedly connect via relieving mechanism 1230It is connected to the body 1220 of hand-held instrument 1200.Relieving mechanism 1230 may include such as two outwards guiding and radial arrangement biasing orSpring loads protuberance, and it engages the inside guide recess on the inwall of tubular article 1210.The torsion or steering of tubular article 1210Protuberance is promoted to discharge tubular article 1210 from the main body 1220 of handheld tool or tubular article is locked to the main body of handheld tool1220.Optionally lock tubular article and from main body release tubular article other mechanisms be known to those skilled in the art, and therefore will not be described again.In use, piston 1240 can be activated (for example, by user's activation or automatic activation), and it is graspedMake obturator or other propulsive mechanisms (not showing) so that Follicular Unit is advanced in implanting instrument 1250 from tubular article 1210,And release its distal end.Piston 1240 can also activate presser feet.(or for example, release pressure differential), tubular article when obturator bounces backIt is indexed and the neighbouring Follicular Unit in tubular article is aligned for implantation.Although being illustrated using rounded cylindrical thing, holdTubular article may include comprising the one or more of linear tubular article in novel feature part as described above.
Various embodiments described above is only provided by illustrating and is not necessarily to be construed as limiting required disclosure.These embodiments are easy to be influenceed by various modifications and alternative form, and should be understood that in general, of the invention and described hereinSpecific embodiment covering falls within all modifications, equivalent and substitute in the scope of the appended claims.Lift non-limitingExample, it will be understood by one of ordinary skill in the art that can be as suitable with reference to the special characteristic or characteristic that a figure or embodiment describeCombined with the feature or characteristic described in another figure or embodiment.For example, some parts in tubular article can contain one kindTypes of biological unit (such as Follicular Unit), and the other parts in tubular article can contain another type biological unit.CauseThis, datum mark or other mark/identifiers can be used be and the pre-assigned part as such as tubular article in contained biologyLearn the unique identifier of the type of (for example, hair follicle) unit.Unique identifier can be then by related to robot and implant systemThe imaging acquisition device identification of connection so that indexing mechanism indexing tubular article causes required Follicular Unit type with tools for alignment to plantEnter into body surface.This particular configuration needs indexing mechanism to index tubular article backward and forward, rather than such as aboveOn the single direction of description.In addition, those skilled in the art should be understood that device disclosed herein, system and method notIt is limited to a field, such as hair reparation, but may be used on any number field.Therefore, institute should not be treated in a limiting senseDescription is stated, and the scope of the present invention is defined by the appended claims.Those skilled in the art should be further appreciated that this hairThe bright use for being not limited to particular system, and automatic (including robot), semi-automatic and manual system and equipment can be used for positioningAnd the corresponding tool and other devices and component that actuating is disclosed herein.